Implementation Of Camera Arm Control By An Oculus Rift On A Da Vinci Surgical System Simulation

Camera control methods play a significant role in remote surgery. Two methods have been developed to control the camera arm of the da Vinci Surgical System: a standard clutch-based method for manual movement of the camera and an autonomous camera (auto-camera) method. In the standard method, the surgeon positions the camera manually using a pair of hand controllers. This happens frequently during the surgery and may serve as a distraction during surgical procedures. The second method was developed in order to help surgeon to remove the issue mentioned in the standard method. Auto-camera method enables the system to move the camera autonomously. In this method, the camera is moved with-respect-to the center of surgical tool arms with automatic zoom control ability. There are still many issues with automatically moving a camera. We will show the feasibility of an intermediate solution using an Oculus rift head mounted stereo display. Achieving the optimal camera viewpoint with simple control methods is of utmost importance for remote surgical systems. We propose a new method to move the camera arm based on sensors within the Oculus Rift. Can a surgeon put the Oculus Rift (virtual reality headset), get a stereoscopic view and control the camera with simple head gestures? In this case, the surgeon will be able to see the 3D camera view of scope inside of the Oculus Rift and move the viewpoint by his/her head orientation. Position and orientation of the Oculus rift is measured by an inertial measuring unit and optical tracking sensors within the Oculus platform. These data can be used to control the position and orientation of the camera arm. In this thesis, a complete system will be created based on the Robot Operating System (ROS) and a 3D simulation of the da Vinci robot in RViz. In addition, a usability study will be conducted to analyze system accuracy. For this system evaluation, headset orientation will be compared to corresponding orientation of the camera in simulation. We will also check whether subjects can use the system comfortable during a simple operation. In this study, we propose controlling of the camera arm by Oculus Rift as a new method for camera control. It is anticipated that the headset movement will be the same as its corresponding simulation in RViz (simulation environment for the robot). We anticipate that our results will demonstrates feasibility for this method to control a camera. We will propose next steps for testing this system on the da Vinci hardware leading towards a system for the operating room of the future

Cocos Frillgoby, Bathygobius cocosensis (Bleeker, 1854): an additional fish element for the Iranian marine waters (Teleostei: Gobiidae)

Members of the pantropical/subtropical genus Bathygobius are small and common gobies in sheltered and exposed shallow rocky or sandy shorelines, reef crests, mangroves, seagrass beds, rock jetties and seawalls in the Atlantic and Indo-Pacific regions. This report documents a significant range extension of Cocos Frillgoby, Bathygobius cocosensis into the western parts of Indo-Pacific regions, in the Iranian intertidal coast of Makran Sea. The morphological description of collected individuals and its comparison with morphologically similar related goby species, B. meggitti is given and discussed

Association of insertion/deletion mutations in angiotensin converting enzyme (ACE) gene and effectiveness of Glibenclamide therapy in Iranian type 2 diabetic patients

Abstract Introduction: Type 2 diabetes mellitus (T2DM) is an expanding global health problem, closely linked to the epidemic of obesity. The incidence of diabetes is increasing because of aging, changing ethnic mix of the population and worsening obesity. Glibenclamide is used for the treatment of patients with type II diabetes mellitus. Some patients respond well to this therapy while others need to use higher doses along with other medications. Since polymorphisms in ACE gene has been associated with type 2 diabetes mellitus, in the present study we investigated the association of insertion/deletion mutations of this gene with the effectiveness of Glibenclamide in treating Iranian type 2 diabetic patients.   Methods and Results: In this experimental study, blood samples from type II diabetic patients were collected (n=99) and their genomic DNA was isolated. Specific primers for the detection of insertion/deletion mutation were used and polymerase chain reactions (PCR) were conducted using specific thermal cycles. The amplified DNA samples were detected by electrophoresis of these samples on a 0.7% agarose gel. Statistical analysis of the obtained data was performed using t-test and chi-square test. A total of 99 patients were enrolled to the study. The frequency distribution of DD, ID, and II polymorphisms were 72%, 20%, and 8%, respectively. There were no differences among genotypic groups (P = 0.146). In terms of cholesterol, there was a significant difference between DD and DI (P = 0.012). There was a significant difference between the two DD and II genotypes in terms of creatinine (P = 0.034)   Conclusions: Although the results of our study indicated no association of ACE I/D polymorphisms and Effectiveness of Glibenclamide therapy, DD genotype may play a role on effectiveness of Glibenclamide Therapy

Optimization of the expression of genes encoding poly (3-hydroxyalkanoate) synthase from Pseudomonas aeruginosa PTCC 1310 in Escherichia coli

Introduction: Over the years, the use of plastics has complicated the problem of disposal of solid wastes. One strategy to reduce plastic waste is the use of biodegradable plastics. A group of these plastics are polyhydroxyalkanoates (PHAs). To date more than 250 different microorganisms are known to synthesize and accumulate PHA. Most Pseudomonas strains are able to accumulate mcl-PHA. In previous studies, the phaC1 and phaC2 genes were identified in Pseudomonas aeruginosa (P.aeruginosa) PTCC 1310 and were cloned. The aim of this study was to express these genes and optimize the conditions for their expression.  Methods and Results: The inserts obtained from vectors pTZPHAC1 and pTZPHAC2 were subcloned into pET15b expression vector. After transformation of competent Escherichia coli (E.coli) BL21 (DE3) cells with recombinant plasmids, expression was induced using IPTG. By changing expression conditions such as IPTG concentration, time and temperature of incubation with IPTG, the expression conditions for these enzymes were optimized, and the obtained results were compared using proper statistical analysis. Conclusions: The PHA synthase genes were induced with IPTG and the expressed 62 kDa protein was observed and purified. By changing expression conditions, 1 mM IPTG, 37°C and a 2 hr incubation provided the highest level of protein production in E.coli cells. These results suggest that induction condition of PhaC genes can influence expression of PHA synthase enzymes